02015nam 2200421z- 450 9910346770103321202102121000055793(CKB)4920000000100822(oapen)https://directory.doabooks.org/handle/20.500.12854/61504(oapen)doab61504(EXLCZ)99492000000010082220202102d2016 |y 0gerurmn|---annantxtrdacontentcrdamediacrrdacarrierUmgebungskartenschätzung aus Sidescan-Sonardaten für ein autonomes UnterwasserfahrzeugKIT Scientific Publishing20161 online resource (XXV, 331 p. p.)Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe3-7315-0541-X This work makes several contributions to the process of estimating elevation maps from side-scan sonar data: A new estimation method that recreates sonar measurements by pre-computed known sonar responses (so called kernels) and then derives a height profile from the kernels used. Additionally, a 3D method based on Markov Random Fields and a side-scan sonar simulation environment for arbitraty 3D scenes featuring different sonar modes and several terrain generators have been developed.autonomes Unterwasserfahrzeugautonomous underwater vehicleenvironment mapestimationOberflächenrekonstruktionSchätzungsidescan sonarSonarsurface reconstructionUmgebungskarteWoock Philippauth1305273BOOK9910346770103321Umgebungskartenschätzung aus Sidescan-Sonardaten für ein autonomes Unterwasserfahrzeug3027822UNINA